EP4203673A1 - Robot d'arrosage et système d'arrosage associé - Google Patents

Robot d'arrosage et système d'arrosage associé

Info

Publication number
EP4203673A1
EP4203673A1 EP21730876.6A EP21730876A EP4203673A1 EP 4203673 A1 EP4203673 A1 EP 4203673A1 EP 21730876 A EP21730876 A EP 21730876A EP 4203673 A1 EP4203673 A1 EP 4203673A1
Authority
EP
European Patent Office
Prior art keywords
watering
robot
watering robot
region
water supplying
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP21730876.6A
Other languages
German (de)
English (en)
Other versions
EP4203673B1 (fr
Inventor
Christoph Schenk
Rainer Kaupp
Rudolf PFAU
Florian SOOR
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Husqvarna AB
Original Assignee
Husqvarna AB
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Husqvarna AB filed Critical Husqvarna AB
Publication of EP4203673A1 publication Critical patent/EP4203673A1/fr
Application granted granted Critical
Publication of EP4203673B1 publication Critical patent/EP4203673B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G25/00—Watering gardens, fields, sports grounds or the like
    • A01G25/09—Watering arrangements making use of movable installations on wheels or the like
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D43/00—Mowers combined with apparatus performing additional operations while mowing
    • A01D43/14—Mowers combined with apparatus performing additional operations while mowing with dispensing apparatus, e.g. for fertilisers, herbicides or preservatives
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D2101/00—Lawn-mowers
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/006—Control or measuring arrangements
    • A01D34/008—Control or measuring arrangements for automated or remotely controlled operation

Definitions

  • the present disclosure relates to a watering system. More specifically, the present disclosure relates to the watering system which allows convenient and damage-free watering using mobile devices.
  • Watering system is generally used to irrigate flora (i.e. plants) in many outdoor installations such as gardens, lawns, and the like.
  • the watering system includes a distribution mechanism having a series of hoses, sprinklers, and the like to supply a liquid (mostly water) to the flora in the outdoor applications.
  • the distribution mechanism leads to issues related to range, maintenance, among other implementation constraints mostly due to reliance on the hoses of the distribution mechanism.
  • CN109,566,065 patent reference discloses an intelligent lawn nursing robot system.
  • the system includes a base station and an intelligent lawn nursing robot.
  • the intelligent lawn nursing robot comprises a shell, a moving module, a cutting module, a control module, and a watering module.
  • the control module is used for controlling the cutting module and the watering module to work; Further, the intelligent lawn nursing robot is in butt joint with the base station under the watering mode and triggers the base station to provide a water source required for current watering for the watering module.
  • the ’065 reference seems short of an arrangement to allow change in height or lifting up of the lawn nursing robot, such as during watering/irrigation without interacting with a ground surface.
  • US6, 431.475 patent reference discloses an irrigation system.
  • the irrigation system includes valve coupler aligner provided with movable carts.
  • the valve coupler incorporates the available weight at the swing arm outer end to influence downward travel of the outer end to forcibly align with, connect to, and forcibly open successive access valves. Upward and downward travel of the valve coupler is provided by an independent wheel lifter as part of the transporter.
  • hydraulic cylinders pivotably mount to hydraulic cylinder mounts between the upper ends of a frame crossbeam and transport wheel legs.
  • the ’323 reference discloses an irrigation robot which includes a drive means for steering and moving the irrigation robot on a working region. Further, an irrigation means, and an intelligence means are disposed on the robot for autonomously controlling the drive means and/or the irrigation means.
  • the control of the drive means is based on positional means information signals of the robot obtained from a GPS, satellite signals, radar, infrared sensors, cameras and/or by determining a length/angle of hose unwound from a real which is connected to the robot.
  • the robot may include a docking means , for docking to at least one supply station.
  • the ‘323 reference falls short of providing a simple, and user-friendly multi-functional machine which allows mowing along with on-demand irrigation which protects the working region from any damage from the irrigation robot.
  • the watering system includes a watering robot.
  • the watering robot includes an irrigation controller configured to operate within a region.
  • One or more water supplying units are configured to operate within the region.
  • the watering robot includes a connector portion coupled to the body. The connector portion couples with the one or more water supplying units and receives water from the one or more water supplying units.
  • the watering system is characterized in that a sensor of the watering robot detects the one more water supplying units within the region. Further, the watering robot selectively integrates with the one or more water supplying units based on the detection by the sensor.
  • An actuator of the watering robot at least partially lift up the watering robot with respect to a ground surface of the region.
  • the watering robot automatically couples with the one or more water supplying units through the connector portion. And, the actuator at least partially lifts up the watering robot with respect to the ground surface of the region to irrigate at least a part thereof.
  • the present disclosure provides a simple, efficient, and convenient watering system which allows combined benefits of operating (say mowing) and irrigating by mobilization of the watering robot. Further, the watering robot allows desired irrigation without contact with any ground surface and thereby protecting the ground surface from damage during irrigation.
  • the irrigation controller includes an aquacontour sprinkler.
  • the aquacontour sprinkler allows precise and controlled watering along contours of the desired parts of the region.
  • a watering robot includes a body supported on a plurality of ground engaging means.
  • the ground engaging means are adapted to propel the body on the region.
  • the region includes one or more water supplying units.
  • the watering robot includes a connector portion coupled to the body.
  • the connector portion is adapted to couple with the one or more water supplying units and receive water from the one or more water supplying units.
  • the watering robot is characterized in that a sensor of the watering robot detects the one more water supplying units within the region. Further, the watering robot selectively integrates with the one or more water supplying units based on the detection by the sensor.
  • An actuator of the watering robot at least partially lift up the watering robot with respect to a ground surface of the region.
  • the watering robot automatically couples with the one or more water supplying units through the connector portion. And, the actuator at least partially lifts up the watering robot with respect to the ground surface of the region to irrigate at least a part thereof. This prevents undesired pressure and associated damage on grass or the ground surface from the ground engaging means (i.e. tires) of the watering robot.
  • the watering robot is adapted to be integrated with a lawn mower, or any other machine or equipment present within the region. This provides additional capabilities for the equipment with which the watering robot is coupled.
  • the region is a lawn, or any other gardening/outdoor region.
  • comprehensive watering/mowing solution may be provided by the watering robot for lawn/garden regions.
  • the watering robot integrates with a built-in water pipeline of the one or more water supplies. This allows automatic watering.
  • the integration of the watering system with the built- in water pipeline prevents any cumbersomeness of combining the watering robot and the water supplying units together.
  • FIG. 1 shows a watering system, in accordance with an aspect of the present disclosure
  • FIG. 2 shows a perspective view of a watering robot which operates with the watering system, in accordance with an aspect of the present disclosure
  • FIG. 3 shows a perspective view from a bottom of the watering robot of
  • FIG. 2
  • FIG. 4 shows a block diagram for a sensor and an actuator of the watering robot of FIG. 2;
  • FIG. 5 shows a side view of the watering robot for assembly with a water supplying unit, in accordance with an aspect of the present disclosure
  • FIG. 6 shows a side view of the watering robot which is at least partially lift up and assembled with the water supplying unit, in accordance with an aspect of the present disclosure.
  • FIG. 1 illustrates a watering system 100.
  • the watering system 100 may be provided with any outdoor installation such as gardens, lawns, and the like.
  • the watering system 100 may be capable of being mowed and/or irrigated by a mobile device such as, but not limited to, robotic mowers, lawn mowers and the like.
  • the watering system 100 includes a watering robot 102.
  • the watering robot 102 includes a body 104.
  • a connector portion 106 (shown in FIGS. 2, 3) is coupled to the body 104.
  • the connector portion 106 connects with one or more water supply units 116’, 116”, 116”’.
  • the water supply units 116’, 116”, 116’” are generally referred to as 116 and are present within a region 114.
  • the region 114 is a combined region constituted by parts 114’, 114”, 114’”.
  • the watering robot 102 further includes a plurality of ground engaging means 108 (shown in FIGS.
  • the watering robot 102 includes an irrigation controller 110 (shown in FIG. 2).
  • the watering robot 102 further includes a sprinkler 112.
  • the sprinkler 112 serves to apply water within the region 114 when the watering robot 102 connects or docks with the water supply units 116.
  • the watering robot 102 operates (say mow, irrigate among other functions) within the region 114.
  • the region 114 is a lawn, which is divided into three parts 114’, 114”, 114’” although actual implementation of the present disclosure may have any number, arrangement, sizes of the parts 114’, 114”, 114’” of the region 114.
  • the region 114 includes the one or more water supply units 116, which are provided with a water supply as per the water distribution arrangement of the region 114.
  • the water supplying units 116 may have a built-in water pipeline 118.
  • the watering robot 102 may have one or more implements (not shown) such as a cutters, knives, and the like which are used by the watering robot 102 to operate (i.e. mow) within the region 114.
  • the watering robot 102 has a blade.
  • the blade may start working when the watering robot 102 starts realizing mowing function.
  • the blade may be fixed to a lower surface of the watering robot 102.
  • the watering robot 102 may have single or multiple numbers of blades.
  • the watering robot 102 may have one or more of a reel blade, a deck blade, a mulching blade, a lifting blade, a low-lift blade, a medium-lift blade, a high-lift blade, and the like.
  • the watering robot 102 has the plurality of ground engaging means 108.
  • the ground engaging means 108 may include two rear wheels and two smaller wheels, or any other combination, type, position of the wheels as used or known in the relevant art. Additionally, or alternatively, the ground engaging means 108 may include a front caster, or a universal wheel. The caster wheel may help in changing direction or any other maneuvering by the watering robot 102.
  • the watering robot 102 may water the whole region 114 in stages i.e. the parts 114’, 114”, 114”’. This will allow the watering robot 102 to effectively cover the whole region 114, by operating and/or irrigating the whole region 114 in the parts 114’, 114”, 114’”.
  • the irrigation controller 110 may control operating state of the watering robot 102 within the region 114.
  • the irrigation controller 110 may be pre-programmed or setup with stored information to allow the watering robot 102 to operate automatically, or even semi-automatically as per the requirement.
  • the irrigation controller 110 may also control coupling or docking the watering robot 102 to the one or more water supply units 116.
  • the watering robot 102 automatically couples to the one or more water supplying units 116 by the connector portion 106.
  • the coupling is made with the built-in water pipeline 118 of the one or more water supplying units 116.
  • the watering robot 102 is configured to lift up, move or rise with respect to a ground surface 120. The lifting up of the watering robot 102 helps to check any damage and, as a result, maintains grass within the parts 114’, 114”, 114’”. This prevents undesired prolonged interaction of the ground engaging means 108 (i.e. tires) of the watering robot 102 with the ground surface 120 and thereby prevents grass from tire marks and other such damage.
  • the ground engaging means 108 i.e. tires
  • the watering robot 102 includes the connector portion 106 below the body 104 and on a bottom surface 126 of the watering robot 102.
  • the connector portion 106 is preferably provided at center of the bottom surface 126 for easy and balanced engagement of the connector portion 106 with the water supplying units 116.
  • the connector portion 106 includes an engagement recess 107 which engages with the water supplying units 116.
  • the watering robot 102 may be adapted to be integrated with a lawn mower (not shown). This may allow the watering robot 102 to work more effectively and cover substantial area of the region 114.
  • the watering robot 102 integrates with the built-in water pipeline 118 to water different parts such as the part 114’ of the region 114. Many such parts like parts 114’, 114”, 114’” (referred to as the region 114 collectively) may be present in the region 114.
  • the watering robot 102 may do mowing and watering together, in any particular order or sequence.
  • the watering robot 102 may water the part 114’ of the region 114 by either staying fixed or while moving.
  • the watering robot 102 may water the complete region 114 by getting coupled to the one or more water supplying units 116 or any specific parts (say the part 114’) on the basis of watering requirement. Further, there may be any arrangement, order, position, and other configurations of the one water supplying units 116 may be present in the region 114.
  • the watering robot 102 may move over to dock itself to the water supply units 116.
  • the irrigation controller 110 may control the watering robot 102 to locate and then dock with the water supply units 116. After docking, the watering robot 102 may start watering as per the pre-stored data with the irrigation controller 110 or based on any other user command.
  • the connector portion 106 may be either removably coupled or fixed to the watering robot 102. When the connector portion 106 is removably coupled, the connector portion 106 may be integrated with the watering robot 102 as per requirements.
  • the watering robot 102 may have the sprinkler 112 which may be one or more of rotor type sprinkler, spray type sprinklers, shrub style sprinklers, pop-up style sprinklers, rotors, rotary nozzles, and the like. Further, the sprinkler 112 may be an aquacontour sprinkler. The aquacontour sprinkler 112 may reduce irrigation overlaps and still allow efficient covering of the desired region 114.
  • the sprinkler 112 of the present disclosure is illustrated on the body 104 of the watering robot 102, however actual implementation of the present disclosure may have the sprinkler 122 on any part, position, location (such as rear, front, or top) of the watering robot 102.
  • FIG. 4 illustrates a block diagram for the irrigation controller 110.
  • the irrigation controller 110 includes a sensor 130 and an actuator 140 of the watering robot 102.
  • the sensor 130 and the actuator 140 are adapted to take power from a power supply 150.
  • the power supply 150 may power any part, or components of the watering robot 110.
  • the sensor 130 of the watering robot 102 detect the one more water supplying units 116 within the region 114.
  • the sensor 130 may include one or more of a camera, GPS, Bluetooth, or any other sensing means as used or known in the art.
  • the watering robot 102 selectively integrates with the one or more water supplying units 116 based on the detection by the sensor 130, as illustrated in FIG. 5.
  • the actuator 140 of the watering robot 102 at least partially lift up the watering robot 102 with respect to the ground surface 120 of the region 114, as illustrated in FIG. 6.
  • the watering robot 102 automatically couples with the one or more water supplying units 116 through the connector portion 106.
  • the actuator 140 at least partially lifts up the watering robot 102 with respect to the ground surface 120 of the region 114 to irrigate at least a part 114’, 114”, 114”’.
  • the watering robot 102 may be directed or controlled by the irrigation controller 110, PC controller, wireless controller, and any other electronic technology. Additionally, or alternatively, the watering robot 102 may be controlled directly by sensors present onboard the watering robot 102.
  • the watering robot 102 may be equipped with a camera (not shown).
  • the camera may detect real-time image during working of the watering robot 102. This allows better control of the watering robot 102 during automatic working while monitoring the mowing and irrigation processes, and to prevent accidents and other avoidable circumstances.
  • FIGS. 5, 6 illustrate the watering robot 102.
  • the watering robot 102 may lift up, move, or rise with respect to the ground surface 120 by action of the actuator 140.
  • the lifting up of the watering robot 102, as illustrated in FIG. 6, by an elevation “h” allows the ground engaging means 108 to lift up above the ground surface 120. This ensures that there is no contact between the ground engaging means 108 and the ground surface 120 during irrigation by the sprinkler 112.
  • the sprinkler 112 allows one or more sprinkler streams 124 for the irrigation operation.
  • the elevation “h” of the watering robot 102 may ensure that any vibrations, forces, pressures during irrigation by the sprinkler streams 124 are not transferred to the ground surface 120.
  • ground engaging means 108 helps to check any damage by the ground engaging means 108 to the ground surface 120 (such as the parts 114’, 114” and 114”’ of FIG. 1). This prevents undesired and prolonged interaction of the ground engaging means 108 (i.e. tires) of the watering robot 102 with the ground surface 120 and thereby prevents the ground surface 120 (say grass, and the like) from tire marks and other such damage.
  • the connector portion 106 remains in contact with the water supplying units 116, as illustrated in FIG. 6.
  • the water supplying units 116 include a pipe coupling portion 122.
  • the pipe coupling portion 122 may be provided with each of the water supplying units to connect with the water pipeline 118.
  • the watering robot 102 may be configured such that the irrigation by the sprinkler 112 may activate only on detection of the lift up of the watering robot 102 by the elevation “h”.
  • the elevation “h” may be a slight lifting of the ground engaging means 108 just to ensure no contact with the ground surface 120. This check of the lift up may be made by the irrigation controller 110, more particularly the sensor 130.
  • the actuator 140 may allow the connector portion 106 to change its length such that the watering robot 102 lifts up. Additionally, or alternatively, the actuator 140 may make any other lifting mechanism involving mechanical, hydraulic, electronic or a combination thereof to effectuate change of lifting up the watering robot 102 the elevation “h”. This may take place without any involvement of the watering supplying units 116 during lift up of the watering robot 102.
  • the water supplying units 116 may limit the use of hose pipes in gardens, lawns, and the like. The presence of the water supplying units 106 thus allows to limit or lower unnecessary hosing arrangements in the region 114.
  • the watering robot 102 of the watering system 100 is light-weight, compact, simple, convenient, and easy to maintain for a common user.
  • the watering system 100 may significantly reduce manual operation.
  • the watering system 100 is suitable for home gardens, parkland, and other outdoor applications.
  • the watering system 100 undertakes autonomous lawn mowing and irrigation work, with limited human intervention.

Landscapes

  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Water Supply & Treatment (AREA)
  • Harvester Elements (AREA)

Abstract

Un système d'arrosage (100) comprend un robot d'arrosage (102). Le robot d'arrosage (102) comprend en outre un dispositif de commande d'irrigation (110) conçu pour fonctionner à l'intérieur d'une région (114). Une partie connecteur (106) est accouplée au corps (104), et est conçue pour s'accoupler avec la ou les unités d'alimentation en eau (116) pour recevoir de l'eau à partir de celles-ci. Le système d'arrosage (100) est caractérisé en ce qu'un capteur (130) du robot d'arrosage (102) détecte ladite unité d'alimentation en eau (116) pour une intégration sélective. Un actionneur (140) du robot d'arrosage (102) soulève au moins partiellement le robot d'arrosage (102) par rapport à une surface de sol (120) de la région (114). Le robot d'arrosage (102) s'accouple automatiquement avec ladite unité d'alimentation en eau (116) par la partie connecteur (106), et l'actionneur (140) soulève au moins partiellement le robot d'arrosage (102) par rapport à la surface de sol (120).
EP21730876.6A 2020-11-06 2021-06-02 Robot d'arrosage et système d'arrosage associé Active EP4203673B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP20206106.5A EP3994977A1 (fr) 2020-11-06 2020-11-06 Robot d'arrosage et système d'arrosage associé
PCT/EP2021/064816 WO2022096159A1 (fr) 2020-11-06 2021-06-02 Robot d'arrosage et système d'arrosage associé

Publications (2)

Publication Number Publication Date
EP4203673A1 true EP4203673A1 (fr) 2023-07-05
EP4203673B1 EP4203673B1 (fr) 2023-10-04

Family

ID=73172491

Family Applications (2)

Application Number Title Priority Date Filing Date
EP20206106.5A Withdrawn EP3994977A1 (fr) 2020-11-06 2020-11-06 Robot d'arrosage et système d'arrosage associé
EP21730876.6A Active EP4203673B1 (fr) 2020-11-06 2021-06-02 Robot d'arrosage et système d'arrosage associé

Family Applications Before (1)

Application Number Title Priority Date Filing Date
EP20206106.5A Withdrawn EP3994977A1 (fr) 2020-11-06 2020-11-06 Robot d'arrosage et système d'arrosage associé

Country Status (5)

Country Link
US (1) US11910760B2 (fr)
EP (2) EP3994977A1 (fr)
CN (1) CN116419672B (fr)
PL (1) PL4203673T3 (fr)
WO (1) WO2022096159A1 (fr)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US12213414B2 (en) * 2021-04-09 2025-02-04 Aaron P. Katerberg Autonomous landscape irrigation apparatus
EP4083488A1 (fr) * 2021-04-30 2022-11-02 Husqvarna Ab Procédé de couplage automatique d'un dispositif à une alimentation d'eau, dispositif et système
EP4270138A1 (fr) 2022-04-28 2023-11-01 Techtronic Cordless GP Création d'une limite virtuelle pour un outil de jardin robotisé
US20240000018A1 (en) * 2022-06-29 2024-01-04 Techtronic Cordless Gp Controlling movement of a robotic garden tool with respect to one or more detected objects
US12433209B1 (en) * 2023-08-22 2025-10-07 Abtin Foghi Lawn watering machine
CN119547715A (zh) * 2024-12-29 2025-03-04 中山市庆谊金属制品企业有限公司 一种智能自动洒水机器人系统及其自动洒水控制方法

Family Cites Families (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US1891854A (en) 1929-09-20 1932-12-20 Francis W Wade Combined lawn-mower and sprinkler
US6431475B1 (en) * 1999-08-26 2002-08-13 Christopher Guy Williams Irrigation system
DE102008041323A1 (de) 2008-08-19 2010-02-25 Robert Bosch Gmbh Autonomer Bewässerungsroboter sowie Bewässerungssystem
CH701209A1 (de) 2009-06-03 2010-12-15 Plantcare Ag Mobile vorrichtung und verfahren zur bedarfsgerechten bewässerung eines bodens.
US20170020087A1 (en) 2011-12-19 2017-01-26 Younis Technologies, Inc. Robotic irrigation system
US9265204B2 (en) * 2011-12-19 2016-02-23 Younis Technologies, Inc. Remotely sensing and adapting irrigation system
IL232649A0 (en) 2014-05-15 2014-08-31 Pyrrhason Ltd Method and system for lawn care
US20150359185A1 (en) 2014-06-17 2015-12-17 Jonathan Guy Untethered Irrigation Device and Method
US10377035B2 (en) 2014-11-19 2019-08-13 Positec Technology (China) Co., Ltd Self-moving robot
CN204810972U (zh) 2015-01-18 2015-12-02 济南大学 多功能割草机器人
CN107534677A (zh) * 2015-04-10 2018-01-02 胡斯华纳有限公司 浇水系统中简化的接口连接和操作
WO2016162085A1 (fr) * 2015-04-10 2016-10-13 Husqvarna Ab Système d'arrosage muni de composants adaptatifs
GB2538503B (en) * 2015-05-18 2021-03-10 Exel Industries Sa Garden watering controllers
WO2017133625A1 (fr) 2016-02-01 2017-08-10 苏州宝时得电动工具有限公司 Système de maintenance de cour intelligent et procédé de maintenance correspondant
EP3489784B1 (fr) 2016-07-19 2022-04-27 Positec Power Tools (Suzhou) Co., Ltd Robot de jardinage automoteur et son système
DE102017116659A1 (de) 2017-07-24 2019-01-24 Vorwerk & Co. Interholding Gmbh Im Außenbereich selbsttätig verfahrbares Arbeitsgerät
CN109566065A (zh) * 2017-09-28 2019-04-05 苏州宝时得电动工具有限公司 智能草坪护理机器人系统及其浇水方法
CN208095202U (zh) 2018-03-30 2018-11-16 辽宁新科智能机器人科技有限公司 一种多功能割草机器人
CN108684294B (zh) 2018-05-16 2021-01-29 安徽工程大学 一种压草割草两用机
CN108702922A (zh) 2018-08-14 2018-10-26 太湖县佳美装饰工程有限公司 一种切割浇灌一体的割草机
US20210360853A1 (en) * 2020-05-22 2021-11-25 Jose Ricardo Herrera Autonomous System For Automating Garden Tasks And A Method For Automating Customizable Lawn Patterns

Also Published As

Publication number Publication date
US20230389490A1 (en) 2023-12-07
US11910760B2 (en) 2024-02-27
CN116419672B (zh) 2023-12-19
EP4203673B1 (fr) 2023-10-04
CN116419672A (zh) 2023-07-11
EP3994977A1 (fr) 2022-05-11
PL4203673T3 (pl) 2024-02-19
WO2022096159A1 (fr) 2022-05-12

Similar Documents

Publication Publication Date Title
EP4203673B1 (fr) Robot d'arrosage et système d'arrosage associé
KR101573027B1 (ko) 지능형 무인 제초 로봇
US8656861B2 (en) Milking implement
US5092422A (en) Multipurpose agricultural tractor
WO2011115536A1 (fr) Tondeuse à gazon robotisée pourvue de parties tranchantes
US20170010619A1 (en) Automation kit for an agricultural vehicle
US9101097B2 (en) Harvesting machine
US12263970B2 (en) Agricultural machine
KR102590320B1 (ko) 온실 방제 로봇
US10589971B2 (en) Working platform for a tractor
JP2018139519A (ja) 散布システム
EP4223108A1 (fr) Robot pour tondre le gazon et procédé correspondant
US9706707B2 (en) Crop harvesting machine with a header separable from a tractor
KR102813469B1 (ko) 스마트 온실의 무인방제로봇
KR20190098862A (ko) 이미지 센서 또는 무선 식별 태그를 이용한 위치 감지 로봇 장치를 포함하는 농업용 이동식 스프링클러 시스템
KR102705027B1 (ko) 다목적 농업용 원격주행차량
EP3146832B1 (fr) Machine de récoltes avec une table de coupe amovible du tracteur
EP4226761A1 (fr) Système de commande pour zone de jardin
EP4475665B1 (fr) Véhicule robotisé à deux roues
CN119969368B (zh) 一种无人驾驶带状复合种植分带式喷雾机
CN109121507A (zh) 一种全地形多功能农机装备
JP2554253Y2 (ja) 移動農機の作業機操作装置
CN109644669A (zh) 一种智能剪枝机器人
BR102024016365A2 (pt) Tanque pipa com adequação de irrigador cabinado mecanizado para duas ou mais linhas de plantio acionado por comando eletrohidráulico
WO2026096817A1 (fr) Outil d'élimination de mauvaises herbes

Legal Events

Date Code Title Description
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: UNKNOWN

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE

PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: GRANT OF PATENT IS INTENDED

17P Request for examination filed

Effective date: 20230330

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

INTG Intention to grant announced

Effective date: 20230628

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE PATENT HAS BEEN GRANTED

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

DAV Request for validation of the european patent (deleted)
DAX Request for extension of the european patent (deleted)
REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 602021005664

Country of ref document: DE

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG9D

REG Reference to a national code

Ref country code: NL

Ref legal event code: MP

Effective date: 20231004

REG Reference to a national code

Ref country code: AT

Ref legal event code: MK05

Ref document number: 1616706

Country of ref document: AT

Kind code of ref document: T

Effective date: 20231004

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: NL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231004

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20240105

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20240204

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231004

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: AT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231004

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: ES

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231004

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231004

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20240204

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20240105

Ref country code: ES

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231004

Ref country code: BG

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20240104

Ref country code: AT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231004

Ref country code: PT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20240205

P01 Opt-out of the competence of the unified patent court (upc) registered

Effective date: 20240419

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231004

Ref country code: RS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231004

Ref country code: NO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20240104

Ref country code: LV

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231004

Ref country code: HR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231004

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 602021005664

Country of ref document: DE

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: DK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231004

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: CZ

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231004

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231004

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SM

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231004

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231004

Ref country code: RO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231004

Ref country code: IT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231004

Ref country code: EE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231004

Ref country code: DK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231004

Ref country code: CZ

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231004

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

26N No opposition filed

Effective date: 20240705

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231004

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231004

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MC

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231004

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LU

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20240602

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20240602

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: BE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20240630

Ref country code: CH

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20240630

REG Reference to a national code

Ref country code: BE

Ref legal event code: MM

Effective date: 20240630

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: PL

Payment date: 20250410

Year of fee payment: 5

Ref country code: DE

Payment date: 20250512

Year of fee payment: 5

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: FR

Payment date: 20250509

Year of fee payment: 5

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: CY

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT; INVALID AB INITIO

Effective date: 20210602

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: FI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231004

GBPC Gb: european patent ceased through non-payment of renewal fee

Effective date: 20250602

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: HU

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT; INVALID AB INITIO

Effective date: 20210602

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: GB

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20250602